An intelligent welding robot

Abstract

The application relates to the technical field of welding, in particular to an intelligent welding robot, which comprises a base, a first linear driver fixedly connected to the base, a second linear driver driven by a moving end of the first linear driver to move relative to the base, a moving end of the second linear driver fixedly connected with a third linear driver, a welding gun connected with the moving end of the third linear driver through a mechanical arm, so that the mechanical arm drives the welding gun to move in multiple axes, and a limiting plate for placing an H-shaped steel web plate fixedly connected to the top of the base. The limiting plate on the base cooperates with an upper limiting plate driven by a hydraulic cylinder to clamp the upper and lower ends of the web plate; meanwhile, two groups of U-shaped frames driven by bidirectional screws are close to each other to extrude and position the upper and lower ends of the flange, so that the web plate and the flange are in a preset relative position before welding, and vibration or displacement in the welding process is reduced.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to an intelligent welding robot. Background Technology

[0002] Patent CN119304336B discloses a high-frequency welding device and its welding process for processing H-beams, comprising: a mounting frame; a straightening assembly for straightening the H-beams before welding; a cleaning assembly for cleaning impurities on the surface of the H-beams before welding; a lower pressure roller is slidably mounted on the mounting frame, and two welding machines are mounted on the mounting frame, each welding machine being equipped with a welding head.

[0003] In the aforementioned prior art, the cleaning components enable two cleaning rollers and two cleaning shovels to clean the H-beam to be welded before welding, removing impurities from the welded area and preventing impurities from affecting the weld quality. Furthermore, during welding of the web and flanges of the H-beam, uneven heating at both ends of the flanges can easily cause the flange edges to curl up.

[0004] Therefore, an intelligent welding robot is proposed to solve the problems mentioned above. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: A base is included, on which a first linear actuator is fixedly connected. The moving end of the first linear actuator drives a second linear actuator to move along the base. The moving end of the second linear actuator is fixedly connected to a third linear actuator. The moving end of the third linear actuator is connected to a welding torch via a robotic arm, enabling the robotic arm to drive the welding torch to move along multiple axes. A limiting plate for placing the web of an H-beam is fixedly connected to the top of the base. A drive motor is bolted to the base, and the output shaft of the drive motor is fixedly connected to a bidirectional screw. Both ends of the bidirectional screw are threaded with a U-shaped frame. One end of each U-shaped frame is connected to a telescopic guide rod, and the fixed end of the telescopic guide rod is fixedly connected to the base. Multiple channels are connected to the upper and lower ends of the U-shaped frames. These channels are used to transport gases of different temperatures to the flange surface. A connecting frame is fixedly connected to the inner sidewall of the U-shaped frame. An electromagnetic spring is fixedly connected inside the connecting frame. The other end of the electromagnetic spring is fixedly connected to an extrusion plate, causing the extrusion plate to slide within the connecting frame. A conveying pipe is provided inside the connecting frame, passing through the middle of the extrusion plate, and its other end is connected to the channel via a valve.

[0006] In one possible implementation, a heat-absorbing frame is fixedly connected to the end of the U-shaped frame, and one end surface of the heat-absorbing frame is used to contact the other surface of the flange away from the web weld.

[0007] In one possible implementation, a hydraulic cylinder is fixedly connected to the top of a set of U-shaped frames, and the moving end below the hydraulic cylinder is fixedly connected to the upper limiting plate. The upper limiting plate is located above the limiting plate, and the limiting plate and the upper limiting plate are in contact with the upper and lower ends of the web plate, respectively.

[0008] In one possible implementation, a distance sensor is provided inside the connecting frame, which is used to detect the distance between the sensor and the extrusion plate. The end of the extrusion plate away from the channel is arc-shaped, so that the extrusion plate and the flange of the H-beam are in point contact and subjected to force. A magnetic plate is fixedly connected to the front end of the moving end of the third linear actuator.

[0009] In one possible implementation, a sliding frame is fixedly connected to the side wall of the U-shaped frame, a magnetic slider is slidably connected inside the sliding frame, a first baffle is rotatably connected to the U-shaped frame via a torsion spring, and a drive rope is connected to the magnetic slider. The drive rope slides through the inner side wall of the U-shaped frame and connects to the first baffle. The first shielding plate has a hollow interior, and the hollow interior is connected to the connecting pipe; Hot air is supplied through the connecting pipe into the interior of the first shielding plate, raising the overall temperature of the first shielding plate. This heats the weld area in the unwelded area and keeps the weld area warm after welding is completed.

[0010] In one possible implementation, the sliding frame and the magnetic slider form an adjustment assembly, and the adjustment assembly and the first baffle are provided in multiple sets of the same number; Multiple sets of first shielding plates are connected to each other by rotating through connecting pipes, so that the hollow parts inside the multiple sets of first shielding plates are connected.

[0011] In one possible implementation, a second baffle is rotatably connected to the U-shaped frame, a pressure sensor is connected to the second baffle, a delivery valve is connected to the second baffle, and the interior of the second baffle is hollow.

[0012] In one possible implementation, a first link is rotatably connected to the second shield, the other end of the first link is rotatably connected to a second link, the upper end of the second link is fixedly connected to the output shaft of the servo motor, and the servo motor is bolted to the side wall of the U-shaped frame.

[0013] In one possible implementation, multiple sets of second shields have hollowed-out sections that are interconnected by connecting pipes, the edges of the second shields are provided with a rubber layer, and the outer surface of the second shields is provided with a heat insulation layer.

[0014] In one possible implementation, the first link drives the second baffle to adjust the contact force between the second baffle and the flange and web, and completely encloses the weld after welding. The second baffle can then quickly heat the weld after the welding torch has finished welding, accelerating the escape of hydrogen from the weld.

[0015] Compared with the prior art, the present invention provides an intelligent welding robot with the following advantages: 1. The present invention uses a limiting plate on the base to cooperate with an upper limiting plate driven by a hydraulic cylinder to clamp the upper and lower ends of the web plate; at the same time, a bidirectional screw drives two sets of U-shaped frames to move closer to each other, squeezing and positioning the upper and lower ends of the flange, ensuring that the web plate and the flange are in a preset relative position before welding, thereby reducing vibration or displacement during the welding process.

[0016] 2. The channel in this invention can deliver air of different temperatures to the upper and lower ends of the flange, and adjust the temperature difference between the flange end and the middle welding area through the delivery pipe and valve, thereby reducing the welding deformation of the flange and avoiding cracks or uneven structure caused by excessive temperature difference.

[0017] 3. In this invention, the magnetic suction plate and the magnetic suction slider work together, and the first baffle plate is automatically opened or reset as the welding gun moves by driving the pull rope. Hot air is introduced into the baffle plate to preheat the unwelded area and keep the welded area warm. The servo motor precisely controls the clamping force and opening and closing of the second baffle plate through the linkage. The second baffle plate can quickly heat the weld after the welding gun finishes welding, accelerate the escape of hydrogen in the weld, and pressurize through the delivery valve. In conjunction with the pressure sensor, the pressure change inside the baffle plate is monitored to determine whether there is a gap in the weld.

[0018] 4. The present invention uses an arc-shaped extrusion plate driven by an electromagnetic spring to actively push the flange to move in order to adjust the distance between it and the web plate. If the flange edge bends after welding, it will press the extrusion plate in the corresponding area in the opposite direction. The displacement is sensed by a distance sensor, and then the electromagnetic spring is activated to apply force to flatten it in the opposite direction. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the present invention. Figure 3 ; Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the diagram; Figure 5 This is a schematic diagram of the U-shaped frame connection structure of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the U-shaped frame connection structure of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the second shielding plate structure of the present invention. Figure 1 ; Figure 8 This is a schematic diagram of the second shielding plate structure of the present invention. Figure 2 ; Figure 9 This illustrates the heating conditions of the web and flanges of the present invention.

[0020] In the diagram: 1. Base; 2. First linear actuator; 3. Second linear actuator; 4. Third linear actuator; 5. Welding torch; 6. Magnetic suction plate; 7. Limiting plate; 8. Drive motor; 9. Bidirectional screw; 10. U-shaped frame; 11. Hydraulic cylinder; 12. Upper limiting plate; 13. Heat absorption frame; 101. Channel; 102. Connecting frame; 103. Electromagnetic spring; 104. Extrusion plate; 105. Conveying pipe; 106. Sliding frame; 107. Magnetic slider; 108. First baffle plate; 109. Connecting pipe; 1010. Second baffle plate; 1011, Pressure sensor; 1012, Delivery valve; 1013, First connecting rod; 1014, Second connecting rod; 1015, Servo motor. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: Please see Figures 1-6 In this embodiment, an intelligent welding robot includes a base 1, which is fixed to the external working area by bolts. A first linear actuator 2 is fixedly connected to the base 1. The moving end of the first linear actuator 2 drives a second linear actuator 3 to move on the base 1. A controller is provided on the base 1 for electrical connection with electrical components. Specifically, please refer to Figures 1 to 6 The moving end of the second linear actuator 3 is fixedly connected to the third linear actuator 4. The moving end of the third linear actuator 4 is connected to the welding torch 5 via a robotic arm, so that the robotic arm drives the welding torch 5 to move in multiple axes. The third linear actuator 4 is specifically composed of a base, a motor, a lead screw, and a threaded sleeve. The lead screw drives the threaded sleeve to move, and the threaded sleeve drives the welding torch 5 to move. Specifically, please refer to Figures 1 to 6 A limiting plate 7 for placing the web of the H-beam is fixedly connected to the top of the base 1, providing space for the web; Specifically, please refer to Figures 1 to 3 A drive motor 8 is bolted to the base 1. The output shaft of the drive motor 8 is fixedly connected to the bidirectional screw 9, which can drive two sets of U-shaped frames 10 to move simultaneously. A U-shaped frame 10 is threaded to both the upper and lower ends of the bidirectional screw 9. A telescopic guide rod is connected to one end of each set of U-shaped frames 10. The fixed end of the telescopic guide rod is fixedly connected to the base 1 to provide movement limit for the U-shaped frames 10. More specifically, a hydraulic cylinder 11 is fixedly connected to the top of a set of U-shaped frames 10, and the moving end below the hydraulic cylinder 11 is fixedly connected to the upper limiting plate 12. The upper limiting plate 12 is located above the limiting plate 7, and the limiting plate 7 and the upper limiting plate 12 respectively contact the upper and lower ends of the web plate, which facilitates the restriction and fixation of the upper and lower ends of the web plate and improves the stability of the web plate during welding. Specifically, please refer to Figures 1 to 6 Multiple temperature sensors are provided at the upper and lower ends of the side wall of the U-shaped frame 10. The temperature sensors can detect the temperature of the upper and lower ends of the flange during welding. Specifically, please refer to Figures 1 to 6 A heat-absorbing frame 13 is fixedly connected to the end of the U-shaped frame 10. One end surface of the heat-absorbing frame 13 is used to contact the other surface of the flange away from the web welding point. More specifically, a connecting pipe is provided on the left and right side walls of the heat absorption frame 13, and the heat source is transported to the heat absorption frame 13 through the two sets of connecting pipes.

[0023] Specifically, please refer to Figures 1 to 6 The upper and lower ends of the U-shaped frame 10 are connected to multiple channels 101, which transport gas. A connecting frame 102 is fixedly connected to the inner side wall of the U-shaped frame 10 to provide installation space. An electromagnetic spring 103 is fixedly connected inside the connecting frame 102. The other end of the electromagnetic spring 103 is fixedly connected to the extrusion plate 104 and drives the extrusion plate 104 to slide within the connecting frame 102. A conveying pipe 105 is provided inside the connecting frame 102. The conveying pipe 105 passes through the middle of the extrusion plate 104 and the other end is connected to the channel 101 through a valve. The connection between the conveying pipe 105 and the channel 101 is adjusted by controlling the valve. Specifically, a distance sensor is provided inside the connecting frame 102, which is used to detect the distance between the sensor and the extrusion plate 104. More specifically, during welding, air at different temperatures can be supplied through the channels 101 at the upper and lower ends. The air then enters the delivery pipe 105 through a valve and is delivered to the upper and lower ends of the flange, reducing the temperature difference between the upper and lower ends of the flange and the welding area in the middle of the flange. During welding, heat-absorbing liquid can flow inside the heat-absorbing frame 13, absorbing heat at the other end of the flange. When the flange is placed in the U-shaped frame 10, the electromagnetic spring 103 at one end is activated, and the electromagnetic spring 103 drives the extrusion plate 104 to move, causing the extrusion plate 104 to move the flange within the U-shaped frame 10, thus quickly adjusting the distance between the flange and the web. When the flange edge bends after welding, the flange presses against the extrusion plate 104 in the corresponding area. The distance sensor detects the distance between the flange and the extrusion plate 104, thus determining the bending of the flange in the corresponding area. Subsequently, the electromagnetic spring 103 can be controlled to move, causing the electromagnetic spring 103 to apply force to move the extrusion plate 104, which can then extrude the flange back to its original shape. Specifically, please refer to Figure 5 The other end of the extrusion plate 104 away from the channel 101 can be arc-shaped, so that the extrusion plate 104 and the flange of the H-beam are in point contact and subjected to force. Specifically, a magnetic suction plate 6 is fixedly connected to the front end of the moving end of the third linear actuator 4; Specifically, a sliding frame 106 is fixedly connected to the side wall of the U-shaped frame 10, and a magnetic slider 107 is slidably connected inside the sliding frame 106. A first baffle plate 108 is rotatably connected to the U-shaped frame 10 via a torsion spring. A drive rope is connected to the magnetic slider 107. The drive rope slides through the inner side wall of the U-shaped frame 10 and connects to the first baffle plate 108. When the connection between the magnetic slider 107 and the magnetic plate 6 disappears, the first baffle plate 108 resets and drives the magnetic slider 107 to move and reset via the drive rope. Specifically, the first shield 108 has a hollow interior, and the hollow interior is connected to the connecting pipe 109; Specifically, the sliding frame 106 and the magnetic slider 107 form an adjustment assembly. The adjustment assembly and the first baffle 108 are provided in multiple sets and the same number. The multiple sets of first baffles 108 are connected to each other by rotating through the connecting pipes 109 so that the hollow parts inside the multiple sets of first baffles 108 are connected. In use, the connecting pipes 109 on the two sets of first baffles 108 in the left and right end areas are connected to the external pipes. One set of pipes is a conveying pipe and the other set of pipes is a receiving pipe.

[0024] Please see Figures 1 to 6During operation, an external robotic arm places the web of the H-beam onto the limiting plate 7, inserts the flange between two sets of U-shaped frames 10, and then controls the drive motor 8 to rotate the bidirectional screw 9. As the two sets of U-shaped frames 10 move closer to each other, they press against the upper and lower ends of the flange, causing the middle welding area of ​​the flange to move to the height of the limiting plate 7 and approach the web on the limiting plate 7. At the same time, multiple sets of first shielding plates 108 contact the surfaces of the web and the flange, covering the welding area. Hot air is supplied into the interior of the first shielding plate 108 through the connecting pipe 109, raising the overall temperature of the first shielding plate 108. This heats the weld area in the unwelded area and keeps the weld area warm after welding. Then, the first linear actuator 2 and the second linear actuator 3 are controlled to adjust the up and down and front and back positions of the welding torch 5. The third linear actuator 4 drives the welding torch 5 to move to the right end. The welding torch 5 moves to the connection area between the web and the flange. The welding torch 5 is adjusted by the robotic arm and welds the web and the flange. When the welding torch 5 moves to the area of ​​the U-shaped frame 10, the magnetic suction plate 6 contacts the magnetic suction slider 107 in advance. Then the magnetic suction plate 6 continues to move and drives the magnetic suction slider 107 to move. The magnetic suction slider 107 drives the first shielding plate 108 to unfold outward through the drive rope. The first shielding plate 108 loses its coverage of the area, and the welding torch 5 welds the area. After the welding in this area is completed, the magnetic suction plate 6 continues to move. One end of the magnetic suction plate 6 is in contact with another set of magnetic suction sliders 107 in advance, and drives them to move so that another set of first shielding plates 108 unfolds. Then, the magnetic suction sliders 107 of the previous set separate from the magnetic suction plate 6. The first shielding plate 108 is automatically reset by the torsion spring and covers the upper end of the welded seam. This cycle is repeated. After the weld on this side is completed, the welding torch 5 is moved to the other welding area by the first linear driver 2, the second linear driver 3, and the third linear driver 4, and this cycle is repeated to weld the four areas of the web and flange.

[0025] Example 2: Please see Figure 7 and Figure 8 In this embodiment, an intelligent welding robot includes a second shielding plate 1010 rotatably connected to a U-shaped frame 10, a pressure sensor 1011 connected to the second shielding plate 1010, and a delivery valve 1012 connected to the second shielding plate 1010. The delivery valve 1012 is used to connect to an external gas or liquid delivery pipe to facilitate blowing or cleaning of the weld area. More specifically, the second baffle plate 1010 is hollow, and a first connecting rod 1013 is rotatably connected to the second baffle plate 1010. The other end of the first connecting rod 1013 is rotatably connected to the second connecting rod 1014. The upper end of the second connecting rod 1014 is fixedly connected to the output shaft of the servo motor 1015. The servo motor 1015 is bolted to the side wall of the U-shaped frame 10. Multiple sets of second shielding plates 1010 have hollowed-out sections that are connected to each other through connecting pipes 109. The edges of the second shielding plates 1010 are provided with rubber layers to improve the sealing performance when the second shielding plates 1010 come into contact with the surface of the H-beam. The outer surface of the second shielding plates 1010 is provided with a heat insulation layer. In another embodiment, the second baffle 1010 may not need to be deployed by applying tension through a drive rope, but can be controlled by a servo motor 1015 and a first link 1013 and a second link 1014. The specific implementation method is as follows; The servo motor 1015 drives the second link 1014 to rotate. The second link 1014 drives the second baffle 1010 to rotate through the first link 1013, so that the second baffle 1010 loses contact with the flange and the web. After welding, the first connecting rod 1013 is controlled to drive the second shielding plate 1010 to reset and rotate and contact the flange and web. The contact force between the second shielding plate 1010 and the flange and web can be adjusted, and the weld is completely wrapped inside. Then the temperature inside the second shielding plate 1010 is adjusted to the range of 200-350 degrees Celsius. The second shielding plate 1010 can quickly heat the weld after the welding torch 5 has finished welding, and accelerate the escape of hydrogen in the weld. Meanwhile, in the subsequent process, the second shielding plate 1010 can be pressurized by the delivery valve 1012, and then the pressure sensor 1011 can sense the pressure change inside the second shielding plate 1010 to determine whether the weld in that area has a gap.

[0026] The installation method, connection method, or setting method disclosed in this embodiment are all common mechanical connections. Any connection method that can achieve its beneficial effect can be implemented, so the specific structural composition and working principle will not be described in detail in this embodiment.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent welding robot, comprising a base (1), a first linear actuator (2) fixedly connected to the base (1), and the moving end of the first linear actuator (2) driving a second linear actuator (3) to move on the base (1); The moving end of the second linear actuator (3) is fixedly connected to the third linear actuator (4). The moving end of the third linear actuator (4) is connected to the welding torch (5) via a robotic arm, so that the robotic arm drives the welding torch (5) to move in multiple axes. Its features are: The base (1) has a fixed connection at the top of a limiting plate (7) for placing the web of the H-beam steel. A drive motor (8) is bolted to the base (1). The output shaft of the drive motor (8) is fixedly connected to the bidirectional screw (9). A U-shaped frame (10) is threaded to both the upper and lower ends of the bidirectional screw (9). A telescopic guide rod is connected to one end of each of the two sets of U-shaped frames (10). The fixed end of the telescopic guide rod is fixedly connected to the base (1). The upper and lower ends of the U-shaped frame (10) are connected to multiple channels (101), which are used to transport gas of different temperatures to the flange surface. A connecting frame (102) is fixedly connected to the inner side wall of the U-shaped frame (10). An electromagnetic spring (103) is fixedly connected inside the connecting frame (102). The other end of the electromagnetic spring (103) is fixedly connected to the extrusion plate (104) and drives the extrusion plate (104) to slide inside the connecting frame (102). The connecting frame (102) is provided with a conveying pipe (105), which passes through the middle of the extrusion plate (104) and the other end is connected to the channel (101) through a valve.

2. The intelligent welding robot according to claim 1, characterized in that: A heat-absorbing frame (13) is fixedly connected to the end of the U-shaped frame (10). One end surface of the heat-absorbing frame (13) is used to contact the other surface of the flange away from the web weld.

3. An intelligent welding robot according to claim 1 or 2, characterized in that: A hydraulic cylinder (11) is fixedly connected to the top of a set of U-shaped frames (10). The moving end below the hydraulic cylinder (11) is fixedly connected to the upper limiting plate (12). The upper limiting plate (12) is located above the limiting plate (7), and the limiting plate (7) and the upper limiting plate (12) are in contact with the upper and lower ends of the web respectively.

4. An intelligent welding robot according to claim 1 or 2, characterized in that: A distance sensor is provided inside the connecting frame (102), which is used to detect the distance between the connecting frame (102) and the extrusion plate (104); The other end of the extrusion plate (104) away from the channel (101) is arc-shaped, so that the extrusion plate (104) and the flange of the H-beam are in point contact and subjected to force; A magnetic plate (6) is fixedly connected to the front end of the moving end of the third linear actuator (4).

5. The intelligent welding robot according to claim 1, characterized in that: A sliding frame (106) is fixedly connected to the side wall of the U-shaped frame (10), and a magnetic slider (107) is slidably connected inside the sliding frame (106). A first baffle (108) is rotatably connected to the U-shaped frame (10) via a torsion spring. A drive rope is connected to the magnetic slider (107), and the drive rope slides through the inner side wall of the U-shaped frame (10) and connects to the first baffle (108). The first shield (108) has a hollow interior, and the hollow interior is connected to the connecting pipe (109); Hot air is delivered into the interior of the first shield (108) through the connecting pipe (109), which raises the overall temperature of the first shield (108), heats the weld area in the unwelded area, and keeps the weld area warm after welding is completed.

6. The intelligent welding robot according to claim 5, characterized in that: The sliding frame (106) and the magnetic slider (107) form an adjustment assembly. The adjustment assembly and the first baffle (108) are provided in multiple sets and in the same quantity. Multiple sets of first shielding plates (108) are connected to each other by rotating through connecting pipes (109) so that the hollow parts inside the multiple sets of first shielding plates (108) are connected.

7. The intelligent welding robot according to claim 1, characterized in that: A second baffle plate (1010) is rotatably connected to the U-shaped frame (10), a pressure sensor (1011) is connected to the second baffle plate (1010), a delivery valve (1012) is connected to the second baffle plate (1010), and the second baffle plate (1010) is hollow.

8. The intelligent welding robot according to claim 7, characterized in that: The second baffle plate (1010) is rotatably connected to the first link (1013), the other end of the first link (1013) is rotatably connected to the second link (1014), the upper end of the second link (1014) is fixedly connected to the output shaft of the servo motor (1015), and the servo motor (1015) is bolted to the side wall of the U-shaped frame (10).

9. The intelligent welding robot according to claim 8, characterized in that: The hollowed-out parts of multiple sets of second shields (1010) are connected to each other through connecting pipes (109). The edge of the second shield (1010) is provided with a rubber layer, and the outer surface of the second shield (1010) is provided with a heat insulation layer.

10. The intelligent welding robot according to claim 8, characterized in that: The first connecting rod (1013) drives the second shielding plate (1010) to adjust the contact force between the second shielding plate (1010) and the flange and web, and encloses the weld after welding. The second shielding plate (1010) can quickly heat the weld after the welding gun (5) finishes welding, and accelerate the escape of hydrogen in the weld.

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